This paper presents a two-fingered soft robotic gripper to carry out the grasping of objects for operations in space. Soft robotic graspers can adapt to irregular surfaces, making it possible to grasp and handle objects with different shapes, sizes, and materials, including ones that are soft and fragile. The design of the grasper incorporates compliance and underactuation to effectively conform the grasper’s shape to the objects’ shape without active position control. The main feature of utilizing underactuation lies in the absence of active elements inside the grasper structure in contact with the object; hence, high mechanical robustness is achieved. The relative motion between two fingers is carried out using a DC motor and gear system. Once the fingers come in contact with the object to be held, further grasping happens by flexible deflection of each finger. The kinematic analysis of soft robotic grasper is carried out using MSC ADAMS multibody simulation. The obtained results confirm that the grasper is suitable for grasping objects of variable geometry and materials within its workspace. Lastly, the effect of flexibility and dynamics of grasper mechanism is investigated and results are graphically presented. The proposed model is suitable for space applications. Some of its prospective in-space applications include sample collection in inter-planetary missions, as an end effector to a robotic arm to grasp objects inside/outside the space stations, for clearing space debris, etc.